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Camera to lidar transform of KITTI rotation #118

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afroowoo opened this issue Jun 16, 2020 · 0 comments
Open

Camera to lidar transform of KITTI rotation #118

afroowoo opened this issue Jun 16, 2020 · 0 comments

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@afroowoo
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Hi, when reading a KITTI label, it is converted from camera to lidar coordinates with:

https://github.com/poodarchu/Det3D/blob/9fca2d94e4a138b6a2cd5d3fe4f4de38eb760306/det3d/core/bbox/box_np_ops.py#L925-L930

In this code, shouldn't the rotation also be converted from camera to lidar coordinates, for example r_lidar = r_camera @ r_rect @ velo2cam?

Skipping this transform causes a small rotational misalignment of the ground truth.
Is this intended?
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@afroowoo